EPB/PDO Representation Example

This appendix lists a complete description of a simple scene using the EPB/PDO
representation, implemented in LISP. The scene described has been used as
input for the path planning system. A scale drawing of the scene, with labels
showing how boundary elements have been named, is in figure
A.1.

Figure A.1:
Scene for EPB/PDO Example (drawn to scale)

The remainder of the appendix is a listing of the LISP representation.